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esp32-nmea2000-obp60
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esp32-nmea2000-obp60/lib/obp60task/OBPSensorTask.cpp

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#ifdef BOARD_NODEMCU32S_OBP60
#include <Adafruit_Sensor.h> // Adafruit Lib for sensors
#include <Adafruit_BME280.h> // Adafruit Lib for BME280
#include <Adafruit_BMP280.h> // Adafruit Lib for BMP280
#include <Adafruit_BMP085.h> // Adafruit Lib for BMP085 and BMP180
#include <HTU21D.h> // Lib for SHT21/HTU21
#include <AS5600.h> // Lib for magnetic rotation sensor AS5600
#include "INA226.h" // Lib for power management IC INA226
#include <Ticker.h> // Timer Lib for timer interrupts
#include "OBPSensorTask.h"
#include "OBP60Hardware.h"
#include "N2kMessages.h"
#include "NMEA0183.h"
#include "ObpNmea0183.h"
#include "OBP60ExtensionPort.h"
// Timer Interrupts for hardware functions
void underVoltageDetection();
Ticker Timer1(underVoltageDetection, 1); // Start Timer1 with maximum speed with 1ms
Ticker Timer2(blinkingFlashLED, 500); // Satrt Timer2 for flash LED all 500ms
// Undervoltage function for shutdown display
void underVoltageDetection(){
float actVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // V = 1/20 * Vin
long starttime = 0;
static bool undervoltage = false;
if(actVoltage < MIN_VOLTAGE){
if(undervoltage == false){
starttime = millis();
undervoltage = true;
}
if(millis() > starttime + POWER_FAIL_TIME){
Timer1.stop(); // Stop Timer1
setPortPin(OBP_BACKLIGHT_LED, false); // Backlight Off
setPortPin(OBP_FLASH_LED, false); // Flash LED Off
setPortPin(OBP_POWER_33, false); // Power rail 3.3V Off
buzzer(TONE4, 20); // Buzzer tone 4kHz 20ms
setPortPin(OBP_POWER_50, false); // Power rail 5.0V Off
// Shutdown EInk display
display.fillRect(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_WHITE); // Draw white sreen
display.updateWindow(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, false); // Partial update
display.update();
// Stop system
while(true){
esp_deep_sleep_start(); // Deep Sleep without weakup. Weakup only after power cycle (restart).
}
}
}
else{
undervoltage = false;
}
}
// Initialization for all sensors (RS232, I2C, 1Wire, IOs)
//####################################################################################
void sensorTask(void *param){
SharedData *shared = (SharedData *)param;
GwApi *api = shared->api;
GwLog *logger = api->getLogger();
LOG_DEBUG(GwLog::LOG, "Sensor task started");
SensorData sensors;
ObpNmea0183 NMEA0183;
Adafruit_BME280 bme280; // Evironment sensor BME280
Adafruit_BMP280 bmp280; // Evironment sensor BMP280
Adafruit_BMP085 bmp085; // Evironment sensor BMP085 and BMP180
HTU21D sht21(HTU21D_RES_RH12_TEMP14); // Environment sensor SHT21 and HTU21
AMS_5600 as5600; // Rotation sensor AS5600
INA226 ina226_1(INA226_I2C_ADDR1);// Power management sensor INA226
// Init sensor stuff
bool gps_ready = false; // GPS initialized and ready to use
bool BME280_ready = false; // BME280 initialized and ready to use
bool BMP280_ready = false; // BMP280 initialized and ready to use
bool BMP180_ready = false; // BMP180 initialized and ready to use
bool SHT21_ready = false; // SHT21 initialized and ready to use
bool AS5600_ready = false; // AS5600 initialized and ready to use
bool INA226_1_ready = false; // INA226_1 initialized and ready to use
// Start timer interrupts
bool uvoltage = api->getConfig()->getConfigItem(api->getConfig()->underVoltage,true)->asBoolean();
if(uvoltage == true){
Timer1.start(); // Start Timer1 for undervoltage detection
}
Timer2.start(); // Start Timer2 for blinking LED
// Settings for NMEA0183
String nmea0183Mode = api->getConfig()->getConfigItem(api->getConfig()->serialDirection, true)->asString();
api->getLogger()->logDebug(GwLog::LOG, "NMEA0183 Mode is: %s", nmea0183Mode);
pinMode(OBP_DIRECTION_PIN, OUTPUT);
if (String(nmea0183Mode) == "receive" || String(nmea0183Mode) == "off")
{
digitalWrite(OBP_DIRECTION_PIN, false);
}
if (String(nmea0183Mode) == "send")
{
digitalWrite(OBP_DIRECTION_PIN, true);
}
// Setting for GPS sensors
String gpsOn=api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
if(String(gpsOn) == "NEO-6M"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-6M not found, check wiring");
gps_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M6 found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
gps_ready = true;
}
}
if(String(gpsOn) == "NEO-M8N"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-M8N not found, check wiring");
gps_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M8N found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
gps_ready = true;
}
}
// Settings for temperature sensors
String tempSensor = api->getConfig()->getConfigItem(api->getConfig()->useTempSensor,true)->asString();
if(String(tempSensor) == "DS18B20"){
api->getLogger()->logDebug(GwLog::LOG,"1Wire Mode is On");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"1Wire Mode is Off");
}
// Settings for environment sensors on I2C bus
String envSensors=api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
if(String(envSensors) == "BME280"){
if (!bme280.begin(BME280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BME280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BME280 found");
sensors.airTemperature = bme280.readTemperature();
sensors.airPressure = bme280.readPressure()/100;
sensors.airHumidity = bme280.readHumidity();
BME280_ready = true;
}
}
else if(String(envSensors) == "BMP280"){
if (!bmp280.begin(BMP280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BMP280 found");
sensors.airTemperature = bmp280.readTemperature();
sensors.airPressure =bmp280.readPressure()/100;
BMP280_ready = true;
}
}
else if(String(envSensors) == "BMP085" || String(envSensors) == "BMP180"){
if (!bmp085.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP085/BMP180 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BMP085/BMP180 found");
sensors.airTemperature = bmp085.readTemperature();
sensors.airPressure =bmp085.readPressure()/100;
BMP180_ready = true;
}
}
else if(String(envSensors) == "HTU21" || String(envSensors) == "SHT21"){
if (!sht21.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul HTU21/SHT21 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul HTU21/SHT21 found");
sensors.airHumidity = sht21.readCompensatedHumidity();
sensors.airTemperature = sht21.readTemperature();
SHT21_ready = true;
}
}
// Settings for rotation sensors AS5600 on I2C bus
String envsensor = api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor, true)->asString();
String rotsensor = api->getConfig()->getConfigItem(api->getConfig()->useRotSensor, true)->asString();
String rotfunction = api->getConfig()->getConfigItem(api->getConfig()->rotFunction, true)->asString();
String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
if(String(rotSensor) == "AS5600"){
Wire.beginTransmission(AS5600_I2C_ADDR);
if (Wire.endTransmission() != 0) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul AS5600 found");
sensors.rotationAngle = DegToRad(as5600.getRawAngle() * 0.087); // 0...4095 segments = 0.087 degree
//sensors.magnitude = as5600.getMagnitude(); // Magnetic magnitude in [mT]
AS5600_ready = true;
}
}
// Settings for power amangement sensors INA226 #1 on I2C bus
String powsensor1 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor1, true)->asString();
String shunt1 = api->getConfig()->getConfigItem(api->getConfig()->shunt1, true)->asString();
float shuntResistor = 1.0; // Default value for shunt resistor
float current = 10.0; // Default value for max. current
float corrFactor = 1; // Correction factor for fix calibration
if(String(powsensor1) == "INA226"){
if (!ina226_1.begin()){
api->getLogger()->logDebug(GwLog::ERROR,"Modul 1 INA226 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul 1 INA226 found");
shuntResistor = SHUNT_VOLTAGE / float(shunt1.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
current = float(shunt1.toInt());
api->getLogger()->logDebug(GwLog::LOG,"Calibation INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", current, shuntResistor, SHUNT_VOLTAGE);
// ina226_1.setMaxCurrentShunt(current, shuntResistor);
ina226_1.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
corrFactor = (current / 10) * (0.001 / shuntResistor) / (current / 100); // correction factor for fix calibration
sensors.batteryVoltage = ina226_1.getBusVoltage();
sensors.batteryCurrent = ina226_1.getCurrent() * corrFactor;
sensors.batteryPower = ina226_1.getPower() * corrFactor;
INA226_1_ready = true;
}
}
int rotoffset = api->getConfig()->getConfigItem(api->getConfig()->rotOffset,true)->asInt();
long starttime0 = millis(); // GPS update all 1s
long starttime5 = millis(); // Voltage update all 1s
long starttime6 = millis(); // Environment sensor update all 1s
long starttime7 = millis(); // Rotation sensor update all 500ms
long starttime8 = millis(); // Power management sensor update all 1s
tN2kMsg N2kMsg;
shared->setSensorData(sensors); //set initially read values
// Sensor task loop runs with 100ms
//####################################################################################
while (true){
delay(100); // Loop time 100ms
Timer1.update(); // Update for Timer1
Timer2.update(); // Update for Timer2
if (millis() > starttime0 + 1000)
{
starttime0 = millis();
// Send NMEA0183 GPS data on several bus systems all 1000ms
if (gps_ready == true)
{
SNMEA0183Msg NMEA0183Msg;
while (NMEA0183.GetMessageCor(NMEA0183Msg))
{
api->sendNMEA0183Message(NMEA0183Msg);
}
}
}
// Read sensors and set values in sensor data
// Send supplay voltage value all 1s
if(millis() > starttime5 + 1000 && String(powsensor1) == "off"){
starttime5 = millis();
sensors.batteryVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20
// Send to NMEA200 bus
if(!isnan(sensors.batteryVoltage)){
SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, N2kDoubleNA, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
}
// Send data from environment sensor all 1s
if(millis() > starttime6 + 2000){
starttime6 = millis();
unsigned char TempSource = 2; // Inside temperature
unsigned char PressureSource = 0; // Atmospheric pressure
unsigned char HumiditySource=0; // Inside humidity
if(envsensor == "BME280" && BME280_ready == true){
sensors.airTemperature = bme280.readTemperature();
sensors.airPressure = bme280.readPressure()/100;
sensors.airHumidity = bme280.readHumidity();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airHumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if(envsensor == "BMP280" && BMP280_ready == true){
sensors.airTemperature = bmp280.readTemperature();
sensors.airPressure =bmp280.readPressure()/100;
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "BMP085" || envsensor == "BMP180") && BMP180_ready == true){
sensors.airTemperature = bmp085.readTemperature();
sensors.airPressure =bmp085.readPressure()/100;
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "SHT21" || envsensor == "HTU21") && SHT21_ready == true){
sensors.airHumidity = sht21.readCompensatedHumidity();
sensors.airHumidity = sht21.readTemperature();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airHumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
}
}
// Send rotation angle all 500ms
if(millis() > starttime7 + 500){
starttime7 = millis();
double rotationAngle=0;
if(String(rotsensor) == "AS5600" && AS5600_ready == true && as5600.detectMagnet() == 1){
rotationAngle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
// Offset correction
if(rotoffset >= 0){
rotationAngle = rotationAngle + rotoffset;
rotationAngle = int(rotationAngle) % 360;
}
else{
rotationAngle = rotationAngle + 360 + rotoffset;
rotationAngle = int(rotationAngle) % 360;
}
// Send to NMEA200 bus as rudder angle values
if(!isnan(rotationAngle) && String(rotfunction) == "Rudder"){
double rudder = rotationAngle - 180; // Center position is 180°
// Rudder limits to +/-45°
if(rudder < -45){
rudder = -45;
}
if(rudder > 45){
rudder = 45;
}
SetN2kRudder(N2kMsg, DegToRad(rudder), 0, N2kRDO_NoDirectionOrder, PI);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as wind angle values
if(!isnan(rotationAngle) && String(rotfunction) == "Wind"){
SetN2kWindSpeed(N2kMsg, 1, 0, DegToRad(rotationAngle), N2kWind_Apprent);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as trim angle values in [%]
if(!isnan(rotationAngle) && (String(rotfunction) == "Mast" || String(rotfunction) == "Keel" || String(rotfunction) == "Trim" || String(rotfunction) == "Boom")){
int trim = rotationAngle * 100 / 360; // 0...360° -> 0...100%
SetN2kTrimTab(N2kMsg, trim, trim);
api->sendN2kMessage(N2kMsg);
}
sensors.rotationAngle = DegToRad(rotationAngle); // Data take over to page
sensors.validRotAngle = true; // Valid true, magnet present
}
else{
sensors.rotationAngle = 0; // Center position 0°
sensors.validRotAngle = false; // Valid false, magnet missing
}
}
// Send power management value all 1s
if(millis() > starttime8 + 1000 && (String(powsensor1) == "INA219" || String(powsensor1) == "INA226")){
starttime8 = millis();
if(String(powsensor1) == "INA226" && INA226_1_ready == true){
sensors.batteryVoltage = ina226_1.getBusVoltage();
sensors.batteryCurrent = ina226_1.getCurrent() * corrFactor;
sensors.batteryPower = ina226_1.getPower() * corrFactor;
}
// Send battery data to NMEA200 bus
if(!isnan(sensors.batteryVoltage) && !isnan(sensors.batteryCurrent)){
// SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, sensors.batteryCurrent, N2kDoubleNA, 1);
SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, sensors.batteryCurrent, sensors.batteryPower, 1);
api->sendN2kMessage(N2kMsg);
}
}
shared->setSensorData(sensors);
}
vTaskDelete(NULL);
}
void createSensorTask(SharedData *shared){
xTaskCreate(sensorTask,"readSensors",4000,shared,3,NULL);
}
#endif
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